/*FUNCTION**********************************************************************
*
* Function Name : OSA_MsgQGet
* Description : This function checks the queue's status, if it is not empty,
* get message from it and return kStatus_OSA_Success, otherwise, timeout will
* be used for wait. The parameter timeout indicates how long should wait in
* milliseconds. Pass OSA_WAIT_FOREVER to wait indefinitely, pass 0 will return
* kStatus_OSA_Timeout immediately if queue is empty.
* This function returns kStatus_OSA_Success if message is got successfully,
* returns kStatus_OSA_Timeout if message queue is empty within the specified
* 'timeout', returns kStatus_OSA_Error if any errors occur during waiting,
* returns kStatus_OSA_Idle if message queue is empty and 'timeout' is
* not exhausted, because wait functions should not block with bare metal.
*
*END**************************************************************************/
osa_status_t OSA_MsgQGet(msg_queue_handler_t handler,
void *pMessage,
uint32_t timeout)
{
assert(handler);
osa_status_t retVal = kStatus_OSA_Error;
uint32_t *from_ptr, *to_ptr;
uint16_t msgSize;
INT_SYS_DisableIRQGlobal();
/* Check if the queue is not empty */
if(!handler->isEmpty)
{
from_ptr = &handler->queueMem[handler->head * handler->size];
to_ptr = (uint32_t*)(pMessage);
/* Copy entire message into the queue, based on the size configured at creation */
msgSize = handler->size;
while(msgSize--)
{
*to_ptr++ = *from_ptr++;
}
/* Adjust head pointer and wrap in case the end of the buffer is reached */
++handler->head;
if(handler->head == handler->number)
{
handler->head = 0;
}
/* If queue is empty, clear the semaphore. */
if(handler->head == handler->tail)
{
handler->isEmpty = true;
/* Set semapohre to 0 because the queue is empty. */
(void)OSA_SemaWait(&handler->queueSem, 0);
}
INT_SYS_EnableIRQGlobal();
retVal = kStatus_OSA_Success;
}
else
{
INT_SYS_EnableIRQGlobal();
/* Wait for the semaphore if the queue was empty */
retVal = OSA_SemaWait(&handler->queueSem, timeout);
}
return retVal;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_MutexLock
* Description : This function checks the mutex's status, if it is unlocked,
* lock it and returns kStatus_OSA_Success, otherwise, timeout will be used for
* wait. The parameter timeout indicates how long should wait in milliseconds.
* Pass OSA_WAIT_FOREVER to wait indefinitely, pass 0 will return the value
* kStatus_OSA_Timeout immediately if mutex is locked.
* This function returns kStatus_OSA_Success if the mutex is obtained, returns
* kStatus_OSA_Timeout if the mutex is not obtained within the specified
* 'timeout', returns kStatus_OSA_Error if any errors occur during waiting,
* returns kStatus_OSA_Idle if the mutex is not available and 'timeout' is
* not exhausted, because wait functions should not block with bare metal.
*
*END**************************************************************************/
osa_status_t OSA_MutexLock(mutex_t *pMutex, uint32_t timeout)
{
uint32_t currentTime;
assert(pMutex);
/* Always check first. Deal with timeout only if not available. */
if (pMutex->isLocked == false)
{
/* Get the lock and return success */
INT_SYS_DisableIRQGlobal();
pMutex->isLocked = true;
pMutex->isWaiting = false;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
else
{
if (0 == timeout)
{
/* If timeout is 0 and mutex is not available, return kStatus_OSA_Timeout. */
return kStatus_OSA_Timeout;
}
#if (FSL_OSA_BM_TIMER_CONFIG != FSL_OSA_BM_TIMER_NONE)
else if (pMutex->isWaiting)
{
/* Check for timeout */
currentTime = OSA_TimeGetMsec();
if (pMutex->timeout < OSA_TimeDiff(pMutex->time_start, currentTime))
{
INT_SYS_DisableIRQGlobal();
pMutex->isWaiting = false;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Timeout;
}
}
else if (timeout != OSA_WAIT_FOREVER) /* If dont't wait forever, start timer. */
{
/* Start the timeout counter */
INT_SYS_DisableIRQGlobal();
pMutex->isWaiting = true;
INT_SYS_EnableIRQGlobal();
pMutex->time_start = OSA_TimeGetMsec();
pMutex->timeout = timeout;
}
#endif
}
return kStatus_OSA_Idle;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_SemaWait
* Description : This function checks the semaphore's counting value, if it is
* positive, decreases it and returns kStatus_OSA_Success, otherwise, timeout
* will be used for wait. The parameter timeout indicates how long should wait
* in milliseconds. Pass OSA_WAIT_FOREVER to wait indefinitely, pass 0 will
* return kStatus_OSA_Timeout immediately if semaphore is not positive.
* This function returns kStatus_OSA_Success if the semaphore is received, returns
* kStatus_OSA_Timeout if the semaphore is not received within the specified
* 'timeout', returns kStatus_OSA_Error if any errors occur during waiting,
* returns kStatus_OSA_Idle if the semaphore is not available and 'timeout' is
* not exhausted, because wait functions should not block with bare metal.
*
*END**************************************************************************/
osa_status_t OSA_SemaWait(semaphore_t *pSem, uint32_t timeout)
{
uint32_t currentTime;
assert(pSem);
/* Check the sem count first. Deal with timeout only if not already set */
if (pSem->semCount)
{
INT_SYS_DisableIRQGlobal();
pSem->semCount --;
pSem->isWaiting = false;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
else
{
if (0 == timeout)
{
/* If timeout is 0 and semaphore is not available, return kStatus_OSA_Timeout. */
return kStatus_OSA_Timeout;
}
#if (FSL_OSA_BM_TIMER_CONFIG != FSL_OSA_BM_TIMER_NONE)
else if (pSem->isWaiting)
{
/* Check for timeout */
currentTime = OSA_TimeGetMsec();
if (pSem->timeout < OSA_TimeDiff(pSem->time_start, currentTime))
{
INT_SYS_DisableIRQGlobal();
pSem->isWaiting = false;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Timeout;
}
}
else if (timeout != OSA_WAIT_FOREVER) /* If don't wait forever, start the timer */
{
/* Start the timeout counter */
INT_SYS_DisableIRQGlobal();
pSem->isWaiting = true;
INT_SYS_EnableIRQGlobal();
pSem->time_start = OSA_TimeGetMsec();
pSem->timeout = timeout;
}
#endif
}
return kStatus_OSA_Idle;
}
/*!
* @brief Get inup from user about wakeup timeout
*/
uint8_t setWakeUpTimeOut(void)
{
uint8_t val0;
uint8_t val1;
while(1)
{
PRINTF("Select the wake up timeout in format DD. Possible decimal value is from range 01 - 60 seconds. Eg. 05 means 5 seconds delay");
PRINTF("\r\nWaiting for key press..\r\n\r\n");
val0 = GETCHAR();
if( (val0 >= '0') && (val0 <= '6') )
{
val1 = GETCHAR();
if( (val1 >= '0') && (val1 <= '9') )
{
val0 = (val0-'0')*10 + (val1-'0');
if( (val0!=0) && (val0<=60) )
{
INT_SYS_DisableIRQGlobal();
LLWU_HAL_SetInternalModuleCmd(LLWU_BASE_PTR,kLlwuWakeupModule5,true);
INT_SYS_EnableIRQGlobal();
cmd_alarm(val0);
return val0;
}
}
}
PRINTF("Wrong value!\r\n");
}
}
/*FUNCTION****************************************************************
*
* Function Name : WDOG_DRV_Unlock
* Description : Unlock watchdog register written
* This function is used to unlock the WDOG register written because WDOG register
* will lock automatically after 256 bus clock. Written while the register is
* locked has no affect.
*
*END*********************************************************************/
static void WDOG_DRV_Unlock(void)
{
INT_SYS_DisableIRQGlobal();
WDOG_HAL_Unlock(g_wdogBaseAddr[0]);
INT_SYS_EnableIRQGlobal();
}
/*FUNCTION****************************************************************
*
* Function Name : WDOG_DRV_Refresh
* Description : Refresh watchdog.
* This function is used to feed the WDOG, it will set the WDOG timer count to zero and
* should be called before watchdog timer is timeout, otherwise a RESET will assert.
*
*END*********************************************************************/
void WDOG_DRV_Refresh(void)
{
INT_SYS_DisableIRQGlobal();
WDOG_HAL_Refresh(g_wdogBaseAddr[0]);
INT_SYS_EnableIRQGlobal();
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_MsgQPut
* Description : This function is used to put a message to a message queue.
* Return kStatus_OSA_Success if the message is put successfully, otherwise
* return kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_MsgQPut(msg_queue_handler_t handler, void* pMessage)
{
assert(handler);
uint32_t *from_ptr, *to_ptr;
uint16_t msgSize;
/* Check that there is room in the queue */
INT_SYS_DisableIRQGlobal();
if((handler->tail != handler->head) || (handler->isEmpty))
{
from_ptr = (uint32_t*)pMessage;
to_ptr = &handler->queueMem[handler->tail * handler->size];
/* Copy entire message into the queue, based on the size configured at creation */
msgSize = handler->size;
while(msgSize--)
{
*to_ptr++ = *from_ptr++;
}
/* Adjust tail pointer and wrap in case the end of the buffer is reached */
++handler->tail;
if(handler->tail == handler->number)
{
handler->tail = 0;
}
/* If queue was empty, clear the empty flag and signal that it is not empty anymore */
if(handler->isEmpty)
{
handler->isEmpty = false;
OSA_SemaPost(&handler->queueSem);
}
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
else
{
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Error;
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_EventClear
* Description : Clear one or more event flags of an event object.
* Return kStatus_OSA_Success if clear successfully, kStatus_OSA_Error if failed.
*
*END**************************************************************************/
osa_status_t OSA_EventClear(event_t *pEvent, event_flags_t flagsToClear)
{
assert(pEvent);
/* Clear flags ensuring atomic operation */
INT_SYS_DisableIRQGlobal();
pEvent->flags &= ~flagsToClear;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_EventSet
* Description : Set one or more event flags of an event object.
* Return kStatus_OSA_Success if set successfully, kStatus_OSA_Error if failed.
*
*END**************************************************************************/
osa_status_t OSA_EventSet(event_t *pEvent, event_flags_t flagsToSet)
{
assert(pEvent);
/* Set flags ensuring atomic operation */
INT_SYS_DisableIRQGlobal();
pEvent->flags |= flagsToSet;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_MutexUnlock
* Description : This function is used to unlock a mutex.
*
*END**************************************************************************/
osa_status_t OSA_MutexUnlock(mutex_t *pMutex)
{
assert(pMutex);
INT_SYS_DisableIRQGlobal();
pMutex->isLocked = false;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_ExitCritical
* Description : This function is used to exit critical section.
*
*END**************************************************************************/
void OSA_ExitCritical(osa_critical_section_mode_t mode)
{
if (kCriticalDisableInt == mode)
{
INT_SYS_EnableIRQGlobal();
}
else
{
return;
}
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_SemaPost
* Description : This function is used to wake up one task that wating on the
* semaphore. If no task is waiting, increase the semaphore. The function returns
* kStatus_OSA_Success if the semaphre is post successfully, otherwise returns
* kStatus_OSA_Error.
*
*END**************************************************************************/
osa_status_t OSA_SemaPost(semaphore_t *pSem)
{
assert(pSem);
/* The max value is 0xFF */
if (0xFF == pSem->semCount)
{
return kStatus_OSA_Error;
}
INT_SYS_DisableIRQGlobal();
++pSem->semCount;
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
/*FUNCTION**********************************************************************
*
* Function Name : OSA_EventWait
* Description : This function checks the event's status, if it meets the wait
* condition, return kStatus_OSA_Success, otherwise, timeout will be used for
* wait. The parameter timeout indicates how long should wait in milliseconds.
* Pass OSA_WAIT_FOREVER to wait indefinitely, pass 0 will return the value
* kStatus_OSA_Timeout immediately if wait condition is not met. The event flags
* will be cleared if the event is auto clear mode. Flags that wakeup waiting
* task could be obtained from the parameter setFlags.
* This function returns kStatus_OSA_Success if wait condition is met, returns
* kStatus_OSA_Timeout if wait condition is not met within the specified
* 'timeout', returns kStatus_OSA_Error if any errors occur during waiting,
* returns kStatus_OSA_Idle if wait condition is not met and 'timeout' is
* not exhausted, because wait functions should not block with bare metal.
*
*END**************************************************************************/
osa_status_t OSA_EventWait(event_t *pEvent,
event_flags_t flagsToWait,
bool waitAll,
uint32_t timeout,
event_flags_t *setFlags)
{
uint32_t currentTime;
assert(pEvent);
assert(setFlags);
osa_status_t retVal = kStatus_OSA_Idle;
*setFlags = pEvent->flags & flagsToWait;
/* Check the event flag first, if does not meet wait condition, deal with timeout. */
if ((((!waitAll) && (*setFlags))) || (*setFlags == flagsToWait))
{
INT_SYS_DisableIRQGlobal();
pEvent->isWaiting = false;
if(kEventAutoClear == pEvent->clearMode)
{
pEvent->flags &= ~flagsToWait;
}
INT_SYS_EnableIRQGlobal();
return kStatus_OSA_Success;
}
else
{
if (0 == timeout)
{
/* If timeout is 0 and wait condition is not met, return kStatus_OSA_Timeout. */
return kStatus_OSA_Timeout;
}
#if (FSL_OSA_BM_TIMER_CONFIG != FSL_OSA_BM_TIMER_NONE)
else if (pEvent->isWaiting)
{
/* Check for timeout */
currentTime = OSA_TimeGetMsec();
if (pEvent->timeout < OSA_TimeDiff(pEvent->time_start, currentTime))
{
INT_SYS_DisableIRQGlobal();
pEvent->isWaiting = false;
INT_SYS_EnableIRQGlobal();
retVal = kStatus_OSA_Timeout;
}
}
else if(timeout != OSA_WAIT_FOREVER) /* If no timeout, don't start the timer */
{
/* Start the timeout counter */
INT_SYS_DisableIRQGlobal();
pEvent->isWaiting = true;
INT_SYS_EnableIRQGlobal();
pEvent->time_start = OSA_TimeGetMsec();
pEvent->timeout = timeout;
}
#endif
}
return retVal;
}
/*!
* @brief Main demo function.
*/
int main (void)
{
ftm_pwm_param_t xAxisParams, yAxisParams;
accel_dev_t accDev;
accel_dev_interface_t accDevice;
accel_sensor_data_t accelData;
accel_i2c_interface_t i2cInterface;
int16_t xData, yData;
int16_t xAngle, yAngle;
uint32_t ftmModulo;
// Register callback func for I2C
i2cInterface.i2c_init = I2C_DRV_MasterInit;
i2cInterface.i2c_read = I2C_DRV_MasterReceiveDataBlocking;
i2cInterface.i2c_write = I2C_DRV_MasterSendDataBlocking;
accDev.i2c = &i2cInterface;
accDev.accel = &accDevice;
accDev.slave.baudRate_kbps = BOARD_ACCEL_BAUDRATE;
accDev.slave.address = BOARD_ACCEL_ADDR;
accDev.bus = BOARD_ACCEL_I2C_INSTANCE;
// Initialize standard SDK demo application pins.
hardware_init();
// Accel device driver utilizes the OSA, so initialize it.
OSA_Init();
// Initialize the LEDs used by this application.
LED2_EN;
LED3_EN;
// Print the initial banner.
PRINTF("Bubble Level Demo!\r\n\r\n");
// Initialize the Accel.
accel_init(&accDev);
// Turn on the clock to the FTM.
CLOCK_SYS_EnableFtmClock(BOARD_FTM_INSTANCE);
// Initialize the FTM module.
FTM_HAL_Init(BOARD_FTM_BASE);
// Configure the sync mode to software.
FTM_HAL_SetSyncMode(BOARD_FTM_BASE, kFtmUseSoftwareTrig);
// Enable the overflow interrupt.
FTM_HAL_EnableTimerOverflowInt(BOARD_FTM_BASE);
// Set the FTM clock divider to /16.
FTM_HAL_SetClockPs(BOARD_FTM_BASE, kFtmDividedBy16);
// Configure the FTM channel used for the X-axis. Initial duty cycle is 0%.
xAxisParams.mode = kFtmEdgeAlignedPWM;
xAxisParams.edgeMode = kFtmHighTrue;
FTM_HAL_EnablePwmMode(BOARD_FTM_BASE, &xAxisParams, BOARD_FTM_X_CHANNEL);
FTM_HAL_SetChnCountVal(BOARD_FTM_BASE, BOARD_FTM_X_CHANNEL, 0);
// Configure the FTM channel used for the Y-axis. Initial duty cycle is 0%.
yAxisParams.mode = kFtmEdgeAlignedPWM;
yAxisParams.edgeMode = kFtmHighTrue;
FTM_HAL_EnablePwmMode(BOARD_FTM_BASE, &yAxisParams, BOARD_FTM_Y_CHANNEL);
FTM_HAL_SetChnCountVal(BOARD_FTM_BASE, BOARD_FTM_Y_CHANNEL, 0);
// Get the FTM reference clock and calculate the modulo value.
ftmModulo = (CLOCK_SYS_GetFtmSystemClockFreq(BOARD_FTM_INSTANCE) /
(1 << FTM_HAL_GetClockPs(BOARD_FTM_BASE))) /
(BOARD_FTM_PERIOD_HZ - 1);
// Initialize the FTM counter.
FTM_HAL_SetCounterInitVal(BOARD_FTM_BASE, 0);
FTM_HAL_SetMod(BOARD_FTM_BASE, ftmModulo);
// Set the clock source to start the FTM.
FTM_HAL_SetClockSource(BOARD_FTM_BASE, kClock_source_FTM_SystemClk);
// Enable the FTM interrupt at the NVIC level.
INT_SYS_EnableIRQ(BOARD_FTM_IRQ_VECTOR);
// Main loop. Get sensor data and update globals for the FTM timer update.
while(1)
{
// Wait 5 ms in between samples (accelerometer updates at 200Hz).
OSA_TimeDelay(5);
// Get new accelerometer data.
accDev.accel->accel_read_sensor_data(&accDev,&accelData);
// Turn off interrupts (FTM) while updating new duty cycle values.
INT_SYS_DisableIRQGlobal();
// Get the X and Y data from the sensor data structure.
xData = (int16_t)((accelData.data.accelXMSB << 8) | accelData.data.accelXLSB);
yData = (int16_t)((accelData.data.accelYMSB << 8) | accelData.data.accelYLSB);
// Convert raw data to angle (normalize to 0-90 degrees). No negative
// angles.
xAngle = abs((int16_t)(xData * 0.011));
yAngle = abs((int16_t)(yData * 0.011));
// Set values for next FTM ISR udpate. Use 5 degrees as the threshold
// for whether to turn the LED on or not.
g_xValue = (xAngle > 5) ? (uint16_t)((xAngle / 90.0) * ftmModulo) : 0;
g_yValue = (yAngle > 5) ? (uint16_t)((yAngle / 90.0) * ftmModulo) : 0;
// Re-enable interrupts.
INT_SYS_EnableIRQGlobal();
// Print out the raw accelerometer data.
PRINTF("x= %d y = %d\r\n", xData, yData);
}
}